TY - GEN
T1 - Predicting grasp inertia with a geometric model
AU - Kowadlo, Gideon
AU - Friedman, Jason
AU - Flash, Tamar
PY - 2005
Y1 - 2005
N2 - Controlling fnger impedance is critical for successful grasping. Understanding how humans achieve this is of great interest for learning about human motor control, as well as for applications in robotic grasping. There have been a number of studies on finger impedance in both the robotics and biological fields. They almost exclusively consider only stiffness and viscosity. However, inertia may play an important role in certain grasps, and is important for calculation of the other impedance properties. This paper reports current progress of a project to create a geometric model of the hand for predicting hand/grasp inertia at different configurations (sensed by a glove that measures joint angles) during a variety of tasks.
AB - Controlling fnger impedance is critical for successful grasping. Understanding how humans achieve this is of great interest for learning about human motor control, as well as for applications in robotic grasping. There have been a number of studies on finger impedance in both the robotics and biological fields. They almost exclusively consider only stiffness and viscosity. However, inertia may play an important role in certain grasps, and is important for calculation of the other impedance properties. This paper reports current progress of a project to create a geometric model of the hand for predicting hand/grasp inertia at different configurations (sensed by a glove that measures joint angles) during a variety of tasks.
UR - http://www.scopus.com/inward/record.url?scp=84855596807&partnerID=8YFLogxK
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AN - SCOPUS:84855596807
SN - 0958758379
SN - 9780958758376
T3 - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
BT - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
T2 - 2005 Australian Conference on Robotics and Automation, ACRA 2005
Y2 - 5 December 2005 through 7 December 2005
ER -